CN104750020A - Robot And Robot Control Method - Google Patents
Robot And Robot Control Method Download PDFInfo
- Publication number
- CN104750020A CN104750020A CN201410664366.9A CN201410664366A CN104750020A CN 104750020 A CN104750020 A CN 104750020A CN 201410664366 A CN201410664366 A CN 201410664366A CN 104750020 A CN104750020 A CN 104750020A
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- Prior art keywords
- coating
- robot
- translational speed
- coating material
- quantity delivered
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000011248 coating agent Substances 0.000 claims abstract description 212
- 238000000576 coating method Methods 0.000 claims abstract description 212
- 239000000463 material Substances 0.000 claims abstract description 90
- 230000008859 change Effects 0.000 claims description 15
- 229910000679 solder Inorganic materials 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
- 230000010349 pulsation Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 description 8
- 230000008719 thickening Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002789 length control Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000003827 upregulation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/126—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to target velocity, e.g. to relative velocity between spray apparatus and target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/0416—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with pumps comprising rotating pumping parts, e.g. gear pump, centrifugal pump, screw-type pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/042—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with peristaltic pumps
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45235—Dispensing adhesive, solder paste, for pcb
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
- Y10S901/43—Spray painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention provides a robot and a robot control method. The robot is connected with an applying device including a reserve tank that reserves an applying material, and an applicator unit that applies the applying material to an applying object, and supplying the applying material from the reserve tank to the applicator by power of a motor. The robot includes a holder moving the applicator unit relative to the applying object, a supply-amount adjuster adjusting a supply amount of the applying material by the applying device, and a moving-speed setter setting a moving speed of the holder. The supply-amount adjuster includes a pulse rate calculator calculating an instruction pulse rate to the motor.According to the robot and the robot control method provided by the present invention, a target track can reappear correctly, and the coating material can be prevented from caking.
Description
Technical field
The control method of the robot (robot) that the apparatus for coating that the present invention relates to a kind of coating with carrying out coating material to applied thing is connected and robot.
Background technology
As the device to coating materials such as applied thing coating liquid or powder such as substrates, such as, propose there is the robot being connected with the apparatus for coating such as dispenser (dispenser) or spray nozzle (spray nozzle) on table-top machine people.For the coating part such as nozzle of apparatus for coating, by control step motor (stepping motor) etc., thus from containing the accepting container supply coating material of coating material.Robot has the maintaining part of the coating part keeping apparatus for coating, coating part is moved, while the coating material supplied from accepting container is applied to applied thing.
In this kind of robot, have and be connected with the robot that welder or bonding material apparatus for coating are used as apparatus for coating.Such as when being connected with welder, robot remains the coating part of welder and finger tip and moves.Now, by the control of step motor, the solder be housed in accepting container is supplied to finger tip.Robot makes finger tip move while carry out weld job, thus appropriate solder is applied to applied thing.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2002-066965 publication
But in coating technique, key is the processing of the applied thing being coated with coating material.The processing of applied thing becomes good when the quantity delivered of the coating material of the per unit length specified remains fixing.Thus, when the translational speed of the maintaining part of robot changes, must suitably adjust apparatus for coating to the quantity delivered of coating material.As the change point of the translational speed of the maintaining part of robot, there is starting point and the terminal of coating.The maintaining part of robot is controlled so as to: accelerate gradually after mobile beginning, when terminal close to time slow down gradually.
And, when coating material being applied to the bight of applied thing, if do not change the translational speed of the maintaining part of robot, just cannot turn round in bight.Thus, such as, when maintaining part to be set to the track of X-axis towards the track on the summit at angle, when the track orthogonal with the track of X-axis advanced is set to Y-axis, control as described below is carried out behind the summit of the angle of arrival.That is, control as follows: in the track of X-axis, reduce translational speed gradually, behind the summit of the angle of arrival, in the track of Y-axis, increase translational speed gradually, to return to the speed before entering bight.By carrying out the control of above-mentioned change speed, thus can reproducing target track.
Herein, the quantity delivered being connected to the coating material in the apparatus for coating of robot controls via the control part of apparatus for coating.That is, apparatus for coating is the control of machine-independent people and is controlled.In order to make the quantity delivered of the coating material of per unit length be fixing, must, while the translational speed change of the maintaining part of robot, make the quantity delivered of apparatus for coating synchronous, but setting operation be loaded down with trivial details, both synchronous not reality.
Thus, be the structure changing the translational speed of the maintaining part of robot under the state making the quantity delivered of apparatus for coating keep fixing in the past.Therefore, the part reduced in the speed of maintaining part or the part of time-out, the quantity delivered of coating material increases, and the coating material of coating is thickening, there is problems such as producing caking.Therefore, by making the translational speed on the track of X-axis reduce gradually, and the translational speed on the track of Y-axis is increased gradually, thus manage to make velocity variations become minimum.But now, maintaining part moves to describe the mode of circular arc, therefore cannot correct reproducing target track.And, even if the generation of luming can be suppressed, but due to the coating material of coating thickening, therefore still residue problem in the quality of applied thing.
Summary of the invention
The present invention is problem in order to solve prior art as above and proposes, its object is to provide a kind of can correct reproducing target track and can prevent coating material from the robot of caking and the control method of robot occurring.
[technological means of dealing with problems]
Robot for solving problem as above is connected to apparatus for coating, described apparatus for coating comprises the accepting container containing coating material and the coating part described coating material being applied to applied thing, and described coating material is supplied to described coating part from described accepting container by the power of motor by described apparatus for coating, described robot comprises: maintaining part, makes the relative movement relative to described applied thing of described coating part; Quantity delivered adjustment part, adjusts the quantity delivered of the coating material of described apparatus for coating; And translational speed determination section, the translational speed of described maintaining part is set, and described quantity delivered adjustment part has the pulsation rate operational part of the command pulse rate (pulse rate) calculated for described motor.
Described pulsation rate operational part also according to the described motor of the translational speed of described maintaining part, every 1 pulse to the quantity delivered of coating material and the quantity delivered of the described coating material of per unit working length that presets, can calculate the command pulse rate for described motor.
Described translational speed determination section also can make the translational speed of described maintaining part and track one change, and described pulsation rate operational part also can use the translational speed of change successively to calculate command pulse rate for described motor.Described apparatus for coating also can be solder feedway or bonding material apparatus for coating.
In addition, this form also can be regarded as follows, as method and the program that makes computing machine perform of the function for being realized described each portion by computing machine or electronic circuit.
The control method of robot of the present invention, control is carried out by computing machine or electronic circuit, described robot is connected to apparatus for coating, described apparatus for coating comprises the accepting container containing coating material and the coating part described coating material being applied to applied thing, and described coating material is supplied to described coating part from described accepting container by the power of motor by described apparatus for coating, in the control method of described robot, described robot comprises makes described coating part relative to described applied thing and the maintaining part of relative movement.Described computing machine or described electronic circuit perform: the quantity delivered adjustment process adjusted the quantity delivered of the described coating material of described apparatus for coating; And process is determined to the translational speed that the translational speed of described maintaining part sets, wherein, described quantity delivered adjustment process comprises the process of the command pulse rate calculated for described motor.
[effect of invention]
According to the present invention, can provide a kind of can correct reproducing target track and can prevent coating material from robot and the control method of robot of caking occurring.
Accompanying drawing explanation
Fig. 1 is the key diagram of an example of the schematic configuration of the robot representing the first embodiment.
Fig. 2 is the functional block diagram of an example of the control device of the robot representing the first embodiment.
Fig. 3 is the functional block diagram of the example representing translational speed determination section and quantity delivered adjustment part.
Fig. 4 (a), Fig. 4 (b), Fig. 4 (c) are the figure representing the coating example of being undertaken by robot in the past, Fig. 4 (a) is the track that coating part is passed by applied thing, Fig. 4 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 4 (c) represent coating material.
Fig. 5 (a), Fig. 5 (b), Fig. 5 (c) are the figure representing the coating example of being undertaken by robot in the past, Fig. 5 (a) is the track that coating part is passed by applied thing, Fig. 5 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 5 (c) represent coating material.
Fig. 6 (a), Fig. 6 (b), Fig. 6 (c) are the figure representing the coating example of being undertaken by the robot of the first embodiment, Fig. 6 (a) is the track that coating part is passed by applied thing, Fig. 6 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 6 (c) represent coating material.
Fig. 7 (a), Fig. 7 (b) are the key diagrams of the example representing apparatus for coating.
The explanation of symbol:
11: control part
12: robot control program's storage part
13: operating portion
14: display part
15: temporarily storage part
16: point range storage part
17: the capable storage part of job command
18: translational speed determination section
18a: translational speed storage part
18b: motor drive condition determination section
19: quantity delivered adjustment part
19a: quantity delivered storage part
19b: pulse quantity delivered storage part
19c: supply motor drive condition determination section (pulsation rate operational part)
21a: motor drive control part
21b: motor drive control part is used in supply
22a: motor
22b: supply motor
23: signal input and output portion
A: robot
A1: operation platform
A2: pillar
A3: horizontal arm
A4:Y direction of principal axis moving body
A5: maintaining part
A6: sliding platform
B: apparatus for coating
B1: accepting container
B2: coating part
Embodiment
1. the 1st embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.In addition, in the following description, with machine, artificial table-top machine people is described, but the present invention is applicable to the structure of the various robots such as orthogonal type, horizontal articulated type, vertical joint type.And, as the apparatus for coating being connected to robot, the device of the coating material of the coating liquid such as solder feedway or bonding material apparatus for coating or powder can be used.In Fig. 1, as an example of present embodiment, represent the table-top machine people A of the solder feedway be connected with as apparatus for coating.
(1) apparatus for coating
First, the apparatus for coating B being connected to robot A is described.When apparatus for coating B is solder apparatus, apparatus for coating B has the accepting container B1 containing coating material and rope form solder and coating part B2 solder being applied to applied thing.Apparatus for coating B is configured to, and by the power of the supply motors such as not shown step motor, the solder of rope form is supplied to coating part B2 side from accepting container B1.Thus, according to the structure of used apparatus for coating B, the amount of the solder supplied by the supply motor driven with the signal of every 1 pulse is predetermined.As coating part B2, flatiron or laser (laser) heater can be used.
(2) robot
The robot A being connected to apparatus for coating B has operation platform A1, pillar A2, horizontal arm A3, Y direction moving body A4, maintaining part A5, sliding platform A6.Operation platform A1 to be upper surface be roughly oblong-shaped plane, for supporting the platform of applied thing.In the following description, sometimes operation platform A1 side is set to downside and illustrates up and down.In operation with on platform A1, erect the pillar A2 being provided with quadrangular shape.Above pillar A2, the horizontal arm A3 extended along the direction orthogonal with pillar A2 is installed.
On horizontal arm A3, being provided with can be the Y direction moving body A4 of Y direction movement in the horizontal direction.Y direction moving body A4 moves the power with motor by Y directions such as not shown impulse motors, and horizontal arm A3 is moved along Y direction.In FIG, the Y direction moving body A4 after moving is represented with 2 chain lines.In the below of Y direction moving body A4, be provided with maintaining part A5.
Maintaining part A5 is the component of the coating part B2 for keeping apparatus for coating B.Maintaining part A5 and Y direction moving body A4 together moves along Y direction.And, on maintaining part A5, possess not shown Z-direction and move with motor, thus maintaining part A5 can be that Z-direction is arranged movably along the vertical direction.By above structure, maintaining part A5 makes coating part B2 relative movement relative to applied thing.And, the θ axle moving body that coating part B2 is rotated can be set.
At the upper surface of operation with platform A1, be provided with the sliding platform A6 loading applied thing.Sliding platform A6 moves the power with motor by X-directions such as not shown impulse motors, can arrange movably, thus the applied thing being placed in upper surface can be made to move in X direction on operation platform A1 along X-direction.That is, sliding platform A6 formation makes coating part B2 relative to applied thing and a part for the maintaining part of relative movement.
(3) control device of robot
The robot A with structure as above has the control device shown in functional block diagram of Fig. 2.This control device possesses control part 11, robot control program's storage part 12, operating portion 13, display part 14, temporarily storage part 15, point (point) row storage part 16, the capable storage part 17 of job command, translational speed determination section 18, quantity delivered adjustment part 19.In present embodiment, the control of robot A controls to carry out by CP.That is, control as follows: on track, arrange multiple point filling up regulation intersite continuously, coating part B moves along the direction linked between each point with straight line.
Control part 11 is the central processing units (Central Processing Unit, CPU) formed for main body with microcomputer (micro computer), carries out the control of whole robot.Robot control program's storage part 12 stores the handling part for the control program of control A.Control part 11, according to the control program be stored in robot control program's storage part 12, carries out input operation, display, storage, motor driving, signal input and output.
Operating portion 13 is the input medias such as keyboard (keyboard) or hardware mechanism, software mechanism etc. for teaching, for the input of the program or data of carrying out robot.Operating portion 13 is also such as the equipment of the change of the setting value such as the translational speed of maintaining part of operator's machine entered people A or the quantity delivered of the coating material of apparatus for coating B.Display part 14 is liquid crystal display (Liquid Crystal Display, LCD) display device etc., for display setting value or the input state showing operating portion 13.
Temporary transient storage part 15 is so-called storer (memory), is the storage part of the information required when exporting steering order of temporary transient memory control unit 11.Point range storage part 16 is the storage parts storing the point making applied thing movement and the operation performed at this some place.The point that robot is performed operation by point range storage part 16 is stored as X, Y, Z coordinate.
The capable storage part 17 of job command will represent that the numbering of the job command that the coating part B2 being used for maintaining part A5 is kept performs is stored as a job number.Job command is the order to robot instruction operation action, such as, have the order of the various operation such as coating operations or weld job.For job command, set and store following job command, namely coating part B2 to before a movement, to a movement midway, the point of arrival time etc. the job command that multiple opportunity, (timing) carried out.And, job command also can be made to be stored accordingly with numbering.
Translational speed determination section 18 is handling parts of the translational speed of setting maintaining part, as shown in Figure 3, has translational speed storage part 18a and motor drive condition determination section 18b.Translational speed storage part 18a be to each point chien shih coating part B2 relative to applied thing the storage part that the translational speed of the maintaining part of relative movement stores.Translational speed both can be set to fixed value on all tracks, also can be set to change between each point.When the track can passed by with fixed speed, be preferably set to fixed value.On the other hand, when having the complicated track in bight etc., translational speed and track one is preferably made to change.
It is that interval is preserved that translational speed also can be associated with between each point by translational speed storage part 18a.Each point also can represent with X, Y-coordinate.Translational speed both can prestore, and also can adopt the structure of the speed storing the input via operating portion 13.Translational speed storage part 18a exports the translational speed between point to motor drive condition determination section 18b and supply motor drive condition determination section 19c described later.
Motor drive condition determination section 18b is based on the signal from translational speed storage part 18a, decides the handling part of the motor drive volume for obtaining required translational speed.The motor drive condition that motor drive condition determination section 18b determines exports motor drive control part 21a described later to via control part 11.
Quantity delivered adjustment part 19 is the handling parts adjusted the quantity delivered of the coating material of apparatus for coating B, as shown in Figure 3, has quantity delivered storage part 19a, pulse quantity delivered storage part 19b and supply motor drive condition determination section 19c.Quantity delivered storage part 19a is the storage part of the quantity delivered of the coating material storing per unit working length.The quantity delivered of the coating material of per unit working length is the value set by operator.Such as 2 μ L/mm, the amount of the coating material supplied relative to certain length.The quantity delivered of the coating material of per unit working length both can prestore, and also can adopt the structure of the quantity delivered storing the input via operating portion 13.
Pulse quantity delivered storage part 19b is the storage part that the amount of the coating material supplied the supply motor 22b by driving with the signal of every 1 pulse stores.This value determined according to the structure of apparatus for coating B, both can prestore, and also can adopt the structure of the value storing the input via operating portion 13.Stored quantity delivered is exported to supply motor drive condition determination section 19c by quantity delivered storage part 19a and pulse quantity delivered storage part 19b.
Supply motor drive condition determination section 19c (pulsation rate operational part) is the handling part of the command pulse rate calculated for supply motor 22b.In present embodiment, supply motor drive condition determination section 19c to the quantity delivered of the coating material of the quantity delivered of coating material and per unit working length, calculates the command pulse rate for supply motor 22b according to the translational speed of inputted maintaining part, the supply motor 22b of every 1 pulse.Specifically, supply motor drive condition determination section 19c calculates umber of pulse between 1 second using as pulsation rate based on following formula 1.
[formula 1]
Command value C=A × V ÷ B
V: the translational speed (such as unit is mm/s) of maintaining part
A: the quantity delivered (such as unit is mm/pls) of the described coating material of per unit working length
B: the supply motor of every 1 pulse is to the quantity delivered (such as unit is mm/m) of coating material
The pulsation rate that supply motor drive condition determination section 19c determines supply uses the drive condition of motor 22b, and exports supply motor drive control part 21b described later to via control part 11.
On control part 11, be connected with motor drive control part 21a, supply motor drive control part 21b and signal input and output portion 23.Control part 11 has following function, that is, to motor drive control part 21a, supply motor drive control part 21b output order, perform various action with CD-ROM drive motor 22a and supply motor 22b.Motor drive control part 21a is the handling part that the drive condition determined based on motor drive condition determination section 18a controls motor 22a.Motor 22a is drive division as described below, that is, by the power of this motor 22a, make connected coating part B2 relative movement relative to non-object thing, or makes coating part B2 perform operation and action.
Motor drive control part 21a and motor 22a can optionally arrange multiple.Such as, as apparatus for coating B described in using, move to move to move to move with motor and the θ direction of principal axis for making coating part B2 rotate by motor, Z-direction by motor, Y direction by the X-direction for making coating part B2 move to regulation point and control with these four motors of motor.
Supply motor drive control part 21b is the handling part that the drive condition determined based on motor drive condition determination section 19b controls supply motor 22b.Supply motor 22b is the drive division for coating material to be supplied to by its power coating part B2 from accepting container B1.Signal input and output portion 23 is the instructions based on control part 11, performs the signal input from outside and the handling part that exports the signal of outside.Signal input and output portion 23 has following function, that is, make the input signal from outside be reflected into the control of robot, or exports control signal etc. to external unit.
1.2 action
While compare with past case, the action case of robot A as above is described.
(1) past case 1
As past case 1, coating by following robot is illustrated in Fig. 4 (a), Fig. 4 (b), Fig. 4 (c) is described, namely, make track preferential, under the quantity delivered of the coating material by apparatus for coating remains fixing state, change the translational speed of the maintaining part of robot.In Fig. 4 (a), Fig. 4 (b), Fig. 4 (c), Fig. 4 (a) is the track that coating part B2 passes by applied thing, Fig. 4 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 4 (c) represent coating material.
As shown in Fig. 4 (a), maintaining part is controlled so as to: coating part B2 passes by the track at right angles turned round in the mode in the bight along applied thing.In such cases, in translational speed storage part 18a, store the translational speed shown in figure of Fig. 4 (b).That is, such as reduce the translational speed on the track (speed 1 direction of figure) of X-axis gradually, behind the summit of the angle of arrival, increase the translational speed on the track (speed 2 direction of figure) of Y-axis gradually.The method need not move in X-axis and this two direction of Y-axis simultaneously, just can correct reproducing target track.
In track as above and translational speed, when being set to fixing by the quantity delivered of coating material, coating material is coated with as shown in Fig. 4 (c).That is, in the part that the translational speed of coating part B2 reduces, the quantity delivered of coating material increases, and coating material is thickening.And, on the summit at the angle that the relative movement of coating part B2 suspends, can caking be produced.In addition, although not shown, but coating starting point and end point near, also can produce the deceleration of coating part B2, be therefore coated with coating material is thickening.Thus, i.e. enable correct track of passing by, still can residue problem in the quality of applied thing.
(2) past case 2
As past case 2, coating by following robot is illustrated in Fig. 5 (a), Fig. 5 (b), Fig. 5 (c) is described, namely, make speed-priority, under the quantity delivered of the coating material by apparatus for coating remains fixing state, change the translational speed of the maintaining part of robot.In Fig. 5 (a), Fig. 5 (b), Fig. 5 (c), Fig. 5 (a) is the track that coating part B2 passes by applied thing, Fig. 5 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 5 (c) represent coating material.
As shown in Fig. 5 (a), in the past case 2 of speed-priority, maintaining part is controlled so as to: it is the track that arc-shaped is turned round that coating part B2 passes by the bight of applied thing.In such cases, in translational speed storage part 18a, store the translational speed shown in figure of Fig. 5 (b).That is, such as reduce the translational speed on the track (speed 1 direction of figure) of X-axis gradually, and increase the translational speed on the track (speed 2 direction of figure) of Y-axis gradually.Simultaneously the method moves in X-axis and this both direction of Y-axis, therefore cannot pass by along the track of the angle of entry, but, velocity variations reduces in Fig. 5 (b) as shown by the solid line.
In track as above and translational speed, when being set to fixing by the quantity delivered of coating material, coating material is coated with as shown in Fig. 5 (c).That is, though can suppress the generation of luming, with velocity variations, the quantity delivered of coating material increases, and coating material is thickening.In addition, in this structure, also same with past case 1, near the starting point and end point of coating, the coating material be coated with also can be thickening.Thus, i.e. the enable generation suppressing caking, still remaining problem in the quality of applied thing.
(3) embodiments of the present invention
In present embodiment, control motor 22a based on the translational speed be stored in translational speed storage part 18a.That is, motor 22a is controlled so as to: coating part B2 can the translational speed of reproducing target track move between each point.And, in quantity delivered adjustment part 19, based on the translational speed be stored in translational speed storage part 18a and the quantity delivered be stored in quantity delivered storage part 19a and pulse quantity delivered storage part 19b, calculate the command pulse rate of the supply motor 22b for apparatus for coating B.That is, fixing mode is become to control supply motor 22b with the quantity delivered of the coating material of per unit length.
The coating of present embodiment as above is illustrated in Fig. 6 (a), Fig. 6 (b), Fig. 6 (c) is described.In Fig. 6 (a), Fig. 6 (b), Fig. 6 (c), Fig. 6 (a) is the track that coating part B2 passes by applied thing, Fig. 6 (b) is the coating form that the figure of the translational speed representing X, Y direction, Fig. 6 (c) represent coating material.
As shown in Fig. 6 (a), maintaining part is controlled so as to: coating part B2 passes by the track at right angles turned round in the mode in the bight along applied thing.In such cases, in translational speed storage part 18a, store the translational speed shown in figure of Fig. 6 (b).That is, such as reduce the translational speed on the track (speed 1 direction of figure) of X-axis gradually, behind the summit of the angle of arrival, increase the translational speed on the track (speed 2 direction of figure) of Y-axis gradually.The method need not move in X-axis and this two direction of Y-axis simultaneously, just can in bight correct reproducing target track.
In track as above and translational speed, when the quantity delivered of the coating material by per unit length controls as time fixing, coating material is coated with as shown in Fig. 6 (c).That is, with velocity variations, the quantity delivered of coating material suitably changes, and therefore can not lump, and be coated with the coating material of aequum.
1.3 action effect
The action effect with the robot A of the present embodiment of structure as above is as follows.
(1) there is quantity delivered adjustment part 19, this quantity delivered adjustment part 19 according to the translational speed of inputted maintaining part, the supply motor 22b of every 1 pulse to the quantity delivered of the coating material of the quantity delivered of coating material and per unit working length, calculate the command pulse rate for supply motor 22b, and the quantity delivered of the coating material of per unit length is controlled to be fixing.Thus, can correct reproducing target track, and can prevent coating material from luming.
(2) when the translational speed of maintaining part is set to fixed value, and when being set to fixing on all tracks, can make to become easy to the teaching operation of robot A.Now, the quantity delivered of the coating material of per unit length is also controlled as fixing, therefore, it is possible to prevent coating material from luming.
(3) when making the translational speed of maintaining part and track one changes, the command pulse rate for supply motor 22b can be changed at any time.Thus, the movement of robot A can be made synchronous with the coating operations of apparatus for coating B, therefore, it is possible to correct reproducing target track, and can prevent coating material from luming.
And, when translational speed is fixed value, in order to reproducing target track, sometimes must translational speed be set slower.But, when making translational speed and track one changes, the restriction of the kinetic operating speed because of robot can be alleviated, thus coating operations can be carried out more at high speed, the quality of applied thing can be improved.
2. other embodiments
In addition, the present invention is not limited to described embodiment, optionally can carry out various change.
(1), in described embodiment, the solder feedway that solder is supplied to coating part B2 side from accepting container B1 is illustrated by the power of step motor for apparatus for coating B, but the structure of apparatus for coating B is not limited thereto.As long as can precise hard_drawn tuhes liquid coating apparatus for coating B, when being connected to robot A, just can obtain and described same action effect.That is, rotating pipe (rotary tubing) the formula apparatus for coating shown in Fig. 7 (a) can be used, that is, utilize motor to drive the component that the tubing (tube) passed through by coating material is flattened to move, to control quantity delivered.And, spiral (screw) the formula apparatus for coating shown in Fig. 7 (b) can be used, that is, by utilizing screw type pump motor to drive, thus control quantity delivered.In addition, also can use the spray volume pettiness of every 1 injection (shot) and be subject to the correct contactless dispenser controlled.
(2) in the embodiment described in, have employed the structure of the movement being carried out X-direction by sliding platform A6, but in robot A, the axial movement of XYZ by which kind of component is undertaken suitably changing.That is, also by pillar A2 can be arranged movably along X-direction, thus the movement of X-direction is carried out.
(3) the control device C described in is by utilizing established procedure to control the computing machine that comprises CPU and realizing.Program now applies flexibly the hardware of computing machine by physics mode, thus realizes process as above.Therefore, the form that the method for described process, program and the recording medium that has program recorded thereon also are embodiments is performed.
And, how to set the scope processed with hardware, the scope processed with the software comprising program, be not limited to specific modality.Such as, also any one in described each several part can be configured to the circuit realizing each process.
(4) described above, embodiments of the present invention are illustrated, but in the scope of purport not departing from invention, can various omission, replacement, change be carried out.Further, this embodiment or its distortion are included in scope of invention or purport, and comprise in the scope of invention and the equalization thereof recorded in the present invention.
Claims (5)
1. a robot, be connected to apparatus for coating, described apparatus for coating comprises the accepting container containing coating material and the coating part described coating material being applied to applied thing, and described coating material is supplied to described coating part from described accepting container by the power of motor by described apparatus for coating, the feature of described robot is to comprise:
Maintaining part, makes the relative movement relative to described applied thing of described coating part;
Quantity delivered adjustment part, adjusts the quantity delivered of the coating material of described apparatus for coating; And
Translational speed determination section, sets the translational speed of described maintaining part, and
Described quantity delivered adjustment part has the pulsation rate operational part of the command pulse rate calculated for described motor.
2. robot according to claim 1, it is characterized in that, described pulsation rate operational part to the quantity delivered of described coating material and the quantity delivered of the described coating material of per unit working length that presets, calculates the described command pulse rate for described motor according to the translational speed of described maintaining part, the described motor of every 1 pulse.
3. robot according to claim 1 and 2, is characterized in that,
Described translational speed determination section makes the translational speed of described maintaining part and track one change,
The translational speed of described pulsation rate operational part use change successively calculates the command pulse rate for described motor.
4. robot according to claim 1 and 2, is characterized in that,
Described apparatus for coating is solder feedway or bonding material apparatus for coating.
5. the control method of a robot, control is carried out by computing machine or electronic circuit, described robot is connected to apparatus for coating, described apparatus for coating comprises the accepting container containing coating material and the coating part described coating material being applied to applied thing, and described coating material is supplied to described coating part from described accepting container by the power of motor by described apparatus for coating, the feature of the control method of described robot is, described robot comprises makes described coating part relative to described applied thing and the maintaining part of relative movement
Described computing machine or described electronic circuit perform:
To the quantity delivered adjustment process that the quantity delivered of the described coating material of described apparatus for coating adjusts; And
Process is determined to the translational speed that the translational speed of described maintaining part sets,
Wherein, described quantity delivered adjustment process comprises the process of the command pulse rate calculated for described motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-273420 | 2013-12-27 | ||
| JP2013273420A JP6467132B2 (en) | 2013-12-27 | 2013-12-27 | Robot, robot control method, and robot control program |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104750020A true CN104750020A (en) | 2015-07-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410664366.9A Pending CN104750020A (en) | 2013-12-27 | 2014-11-19 | Robot And Robot Control Method |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20150183113A1 (en) |
| JP (1) | JP6467132B2 (en) |
| KR (1) | KR20150077277A (en) |
| CN (1) | CN104750020A (en) |
| DE (1) | DE102014118455A1 (en) |
| TW (1) | TW201524655A (en) |
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| CN109865913A (en) * | 2019-03-22 | 2019-06-11 | 北京无线电测量研究所 | The paths planning method of solder horn is cleaned in a kind of automatic welding |
| CN109922672A (en) * | 2016-11-29 | 2019-06-21 | 川崎重工业株式会社 | Robot and its method of operation and application system |
| CN111130956A (en) * | 2018-10-30 | 2020-05-08 | 九阳股份有限公司 | Data transmission method of intelligent household appliance and intelligent household appliance |
| CN111455305A (en) * | 2020-04-30 | 2020-07-28 | 中国航发航空科技股份有限公司 | Spraying method for part with corner spraying area |
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| JP2018192551A (en) | 2017-05-16 | 2018-12-06 | セイコーエプソン株式会社 | Control device, robot, and robot system |
| JP6859992B2 (en) * | 2018-09-28 | 2021-04-14 | セイコーエプソン株式会社 | Control methods, robots and robot systems |
| JP7426198B2 (en) * | 2019-04-17 | 2024-02-01 | 株式会社ジャノメ | Coating device |
| CN111136359B (en) * | 2020-01-03 | 2022-05-13 | 广州市鸿利显示电子有限公司 | Automatic fixed-point tin soldering method |
| CN113996457B (en) * | 2020-03-06 | 2022-07-01 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| JPWO2023119470A1 (en) * | 2021-12-22 | 2023-06-29 |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2015127080A (en) | 2015-07-09 |
| KR20150077277A (en) | 2015-07-07 |
| DE102014118455A1 (en) | 2015-08-13 |
| JP6467132B2 (en) | 2019-02-06 |
| TW201524655A (en) | 2015-07-01 |
| US20150183113A1 (en) | 2015-07-02 |
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